Implementations relate to a computer-implemented method to display a rigid body object within a virtual environment. Some implementations include receiving a model representation of the rigid body object, wherein the model representation includes a plurality of constraints for the rigid body object; splitting the rigid body object into two or more splinters based on the model representation, obtaining a modified representation of the rigid body object based on a modified rigid body object formed by connecting each of the two or more splinters to one or more other splinters by one or more rigid joints, determining an input state of the rigid body object in the virtual environment, solving a set of equations based on the input state and the modified representation of the rigid body object to determine an updated state of the rigid body object.